10 papers
Communication Reduction via Semantic-Based Encoding in DMPC Using LSTMs
Torben Schiz, Pedro H. J. Nardelli, Henrik Ebel
The communication demands of distributed model prediction control (DMPC) can overwhelm even advanced wireless communication technologies as agents must exchange a significant amoun…
Excitation of control-affine systems and Koopman error bounds
Philipp Schmitz, Lea Bold, Friedrich M. Philipp +4
The Koopman operator and extended dynamic mode decomposition (EDMD) as a data-driven technique for its approximation have attracted considerable attention as a key tool for modelin…
Learning-Accelerated Optimization-based Trajectory Planning for Cooperative Aerial-Ground Handover Missions
Jingshan Chen, Bochen Yu, Henrik Ebel +1
This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While cent…
Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs
David Leprich, Mario Rosenfelder, Markus Herrmann-Wicklmayr +4
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control…
Reducing the Communication of Distributed Model Predictive Control: Autoencoders and Formation Control
Torben Schiz, Henrik Ebel
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC…
Discovering Antagonists in Networks of Systems: Robot Deployment
Ingeborg Wenger, Peter Eberhard, Henrik Ebel
A contextual anomaly detection method is proposed and applied to the physical motions of a robot swarm executing a coverage task. Using simulations of a swarm's normal behavior, a…